SE419421B - Bojlig arm i synnerhet robotarm - Google Patents
Bojlig arm i synnerhet robotarmInfo
- Publication number
- SE419421B SE419421B SE7902366A SE7902366A SE419421B SE 419421 B SE419421 B SE 419421B SE 7902366 A SE7902366 A SE 7902366A SE 7902366 A SE7902366 A SE 7902366A SE 419421 B SE419421 B SE 419421B
- Authority
- SE
- Sweden
- Prior art keywords
- segments
- segment
- arm
- actuating means
- flexible arm
- Prior art date
Links
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
- B05B15/60—Arrangements for mounting, supporting or holding spraying apparatus
- B05B15/62—Arrangements for supporting spraying apparatus, e.g. suction cups
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/06—Arms flexible
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/20—Control lever and linkage systems
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/20—Control lever and linkage systems
- Y10T74/20207—Multiple controlling elements for single controlled element
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/20—Control lever and linkage systems
- Y10T74/20396—Hand operated
- Y10T74/20402—Flexible transmitter [e.g., Bowden cable]
- Y10T74/20456—Specific cable or sheath structure
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Forklifts And Lifting Vehicles (AREA)
Description
790236649 endast ett plancirkulärt arbetsfält. En annan begränsning hos konventionella robotarmar är den att armen icke kan föras in i krökta eller vinklade utrymmen och icke heller kan utföra mani- pulationer på den från roboten vända sidan av ett föremål. En annan nackdel är att tillverkningskostnaden är mycket hög. gppfinningens ändamål och viktigaste kännetecken Ändamålet med föreliggande uppfinning är att åstadkomma en robotarm med nära nog obegränsad räckförmâga och maximal rörelsemönster, varmed menas att den praktiskt taget når alla punkter innanför ett sfäriskt arbetsfält. Ett annat syfte med uppfinningen är att fâ fram en robotarm som kan krökas, så att den kan nå en och samma punkt genom ett stort antal krökningskombinationer och erhåller därigenom mycket stor åtkomlighet, vilket innebär att den t.o.m. kan gå förbi hinder av olika slag eller kröka sig kring ett föremål.
Genom uppfinningen skall även åstadkommas högre arbetstakt hos robotarmen, exaktare positionering samt lägre tillverknings- kostnader jämfört med konventionella industrirobotar. Dessa uppgifter har lösts genom att segmenten är utformade med mot varandra vända välvda, företrädesvis delsfäriska kontaktytor, med en radie som är avsevärt större än halva segmentets höjd, varvid segmenten är anordnade att vid påverkan av sagda kraft- genererande och/eller kraftöverförande organ utföra en rullande rörelse relativt varandra.
Beskrivning av ritningarna Fig. l visar i perspektiv schematiskt ett av flera grundut- föranden av armen enligt uppfinningen, Fig. 2 visar armen enligt fig. l i ett höjt läge, Fig. 3 visar en schematisk sidovy av en robotarm enligt upp- finningen sammansatt av två segmentgrupper och därigenom böfilig i_två olika plan eller riktningar, Fig. Ä visar i vy framifrån en komplett industrirobot försedd med en böjlig arm enligt fig. 3; 7902366-9 Fig. 5 visar i perspektiv en konventionell industrirobots maximala räckförmâga och fig. 6 motsvarande förmåga för robotarmen enligt uppfinningen, Fig. 7 illustrerar i perspektiv robotarmens åtkomlighet bakom skymda hörn o.s.v., Fig. 8 visar i sidovy en utföringsvariant, som även kan överföra rotationsrörelser, Fig. 9 och 10-visar snitt genom två utföringsexempel där segmenten är påverkbara på elektromagnetisk väg, Fig. ll, l2 och 13 visar ytterligare varianter med hydrau- lisk eller pneumatisk påverkan av segmenten, Fig. 14 visar ett snitt efter linjen XIV - XIV i fig. 13, Fig. 15 visar i perspektiv påverkningsorganet enligt fig. 13 och lü i form av en slang, och Fig. 16 visar i perspektiv en arm enligt uppfinningen sammansatt av fyra segmentgrupper.
Beskrivning av utföringsexempel Den böjliga armen 10 enligt uppfinningen, i fortsättningen kallad robotarmen, består i princip - såsom åskådliggöres i den i fig. 1 och 2 visade utföringsvarianten - av ett antal i serie anordnade segment ll, var och en utformade som en cirkulär skiva med välvda flatsidor. Beroende på i vilken omfattning armen skall kunna utföra böj- ningsrörelser är varje segment ll försett med ett antal styrhål 12. Tre eller fyra sådana hål placerade på lika avstånd från varandra och från segmentets centrum är lämpliga. En genomgående öppning 13 är upp- tagen i segmentens mitt. Segmenten är anordnade ovanpå varandra med styrhålen 12 belägna mittför varandra så att de linformade påverkningsorgan lü kan träs genom 79012366 - 9 hålen. I det översta segmentet är styrhålen 12 försänkta, vilka försänkningar tjäna för upptagande av vid påverk- ningsorganens yttre ändar anbragta ändavslutningar 15.
Påverkningsorganen utgöres av linor, vajrar eller liknande med goda draghållfasthetsegenskaper. Genom att dra i någon eller några av de utanför det sista segmentet utskju- tande vajrarna lä kan robotarmen böjas i alla riktningar. önskas en böjningsrörelse mellan två påverkningsorgan lh, såsom är visad i fig. 2, utsättas båda dessa för en dragkraft, varvid genom val av dragkraftens storlek böjningsrörelsen kan förskjutas mer eller mindre åt det ena eller andra organet lü. Därigenom kan.armen 10 bringas att utföra en roterande rörelse kring sin längdaxel.
Genom de centrala öppningarna 13 i segmenten passerar en böjlig överföringsanordning 16, avsedd att överföra drag-, tryck- och/eller rotationskrafter, till ett vid armens fria ände anbragt verktyg eller liknande.
Såsom framgår av fig. 3 kan segmenten sammanfattas grupp- vis, där varje grupp manövreras med för denna grupp spe- ciella påverkningsorgan lä. Armen enligt fig. 3 omfattar två grupper, en nedre grupp A och-en övre grupp B. Gruppens A segment lla manövreras medelst påverkningsorganen lüa, medan gruppens B segment llb manövreras medelst påverk- ningsorganen lüb. För att åstadkomma den i fig. 3 visade dubbelkrökningen hos armen i ett och samma plan påverkas två diametralt mittemot belägna påverkningsorgan lfla och löb, såsom är åskådliggjort med pilar. Armens båda grupper A och B kan även utföra böjningar i olika plan genom lämplig påverkan av organen läa och lüb. Armen kan naturligtvis förses med fler än två segmentgrupper, så att den t.o.m. kan krökas i 5600 eller mer om så erfordras i flera olika plan eller riktningar.
I fig. H visas en praktisk tillämpning av armen enligt 7902366-9 föregående utföringsexempel. Den av två eegmentgrupper lla och llb sammansatta böjliga armen 10 är med sin ena ände ansluten till ett maskinaggregat 17, som inne- håller fyra stycken servomotorer 18, vilka driver var sin lintrumma 19 för påverkningsorganen lßa och lüb.
Motorerna 18 är reversibla och så stvrda att varje påverkningsorgan läa, lüb kan utsättas för en indi- viduell reglerbar kraft under upplindníngen på liksom under avlindningen från lintrumman 19.
Den böjliga överföringsanordningen 16 är vid armens nedre ände kopplad till en servomotor 20 via en ut- växlingsanordning 21 och en överbelastningskoppling 22. Vid armens 10 fria ände är till den centrala över- föringsanordningen l6 ansluten ett arbetsredskap 23, som i det visade utföringsexemplet utgöres av en sprut- pistol, som matas av en slang 2U från en sprutmålnings- anordning 25.
Det är även tänkbart att för vissa applikationer tran- sportera arbetsmediet till arbetsredskapet 23 genom den centrala överföringsanordningen 16, som i detta fall är försedd med en central kanal.
De enskilda segmenten ll omges av ett skyddande, flexi- belt hölje 26.
Robotarmens böjlighet, räckförmåga och âtkomlighet illu- streras i figur 6 och 7 i jämförelse med konventio- nella robotarmars rörelsemönster, som är illustrerat i figur 5. Robotarmen enligt uppfinningen, som är utformad med två oberoende av varandra påverkbara segmentgrupper, kan såsom visas i figur 6 nå varje punkt inom en rohot- armen omgivande sfär, och kan såsom framgår av figur 7 krökas på sådant sätt att den även kan utföra manipula- tíoner bakom hinder eller på annat sätt svåråtkomliga ställen. veozzee-9 I det följande beskrivs några av ett stort antal möjliga varianter och det skall påpekas att vissa kännetecken hos dessa varianter kan överflyttas och kombineras sinsemellan.
Den i figur 8 visade varianten är utvecklad för att även kunna överföra roterande rörelser via segmenten, som still detta ändamål är på sina kontaktytor, d.v.s. de mot varandra vända välvda ytorna försedda med radiella kuggar 35, vilka oberoende av vilket vinkelläge segmenten intar är i kuggingrepp med varandra. För att medge segmentens rotationsrörelse är flänsarna 30 med urtagningarna 12 för wirarna lä roterbara relativt segmentkroppen, vilket har åstadkommits genom att anordna ett lager 36 mellan dessa delar. Med hjälp av servomotorn 20 kan segmenten på detta sätt överföra rotationsrörelser till armens fria ände och till arbetsredskapet 23 utan att armens böjlighet på något sätt försvåras.
För överföring av stora laster och/eller moment kan det vara fördelaktigt att ersätta de linformade påverknings- organen, visade i föregående utföringsexempel, med el- magnetiska eller hydrauliska överföringsanordningarl Utföringsexemplet enligt figur 9 visar en variant med elektromagnetisk inställning av segmentens vinkelläge relativt varandra, varvid mellan varje fläns 30 är led- bart lagrade elektromagneter 39, medelst vilka avståndet mellan segmenten kan regleras. Eventuellt kan varje elektromagnet individuellt påverkas för åstadkommande av största möjliga rörlig- och böjlighet.
I stället för att anordna rörliga järnkärnor i en spole, såsom är fallet vid utföringsformen enligt figur 9, kan såsom är åskådliggjort i figur 10 användas fasta elektro- magneter orienterade axiellt i segmenten. De fasta elektro- magneterna har sina poler vända mot varandra och för att 7902366-9 åstadkomma en variabel böjning hos armen kan flera sådana stavformade magneter vara anordnade i ett radiellt mönster i segmenten.
I båda utföringsexemplen enligt figur 9 och 10, betecknas med 41 elektriska matarledningar till elektromagneterna.
Elektromagnetiska påverkningsorgan arbetar i regel endast mellan två fasta ändlägen, varigenom en steglös inställning av armens böjning ej är möjlig. Denna begränsning är elimi- nerad med den i figur ll visade varianten, där påverknings- organen lä utgörs av hydrauliska eller pneumatiska servo- motorer i form av cylindrar H2 med dubbla motställda kolvar H3. Via ett centralt in- eller utlopp UU kan tryckmediet tillföras från en matarslang 45. Kolvarna 43 är svängbart lagrade vid segmentens periferiella fläns 30. Matarslangen 45 är lämpligen trädd genom urtagningar i flänsen 50.
I fig. 12 visas ett utföringsexempel där segmenten är två- delade längs de periferiella flänsarna och där varje del 37 och 38 är utformade med en periferiell fläns 30. Mellan dessa segmentdelar 37 och 38 är anordnade påverkningsorgan 14 i sådan formering att de båda halvorna kan inta olika relativt lutningslägen, såsom är visat i fig. 12. Påverkníngs- organen 14 utgörs av kortslagiga hydrauliska eller pneuma- tiska motorer, exempelvis kolvcylindrar eller tryckmediumpå- verkade bälgar. Minst tre sådana påverkningsorgan är anordnade på lika avstånd från varandra. Tryckmedelsledningar H5 för- sörjer påverkningsorganen med tryckmedium.
Ytterligare ett utföringsexempel där segmenten påverkas på hydraulisk eller pneumatisk väg är visad i figurerna l3-15.
Ett antal tryckslangar 46 med radiellt utskjutande tryck- läppar 47 är anordnade att verka mellan segmentens peri- feriella flänsar 30, såsom är visat i figur 13. När ett tryck appliceras i slangen H6 kommer tryckläpparna H7 att utvidga sig och förskjuta segmentens flänsar 30 från svsozsaa-9 varandra. Eventuellt kan slangarna H6 utgöra en fast be- ståndsdel av armens 10 hölje 26.
Om armen skall utföra mycket kraftiga böjningsrörelser exempelvis för att även kunna "famna" ett föremål i syfte att hålla detta under en arbetsoperation såsom visas i fig. l6 kan det vara lämpligt att ge segmenten eller åtminstone deras kontaktytor sfärisk form.
Segmenten ll kan förutom med resp. påverkningsorgan lü även vara förbundna sinsemellan via andra förbindelse- -element såsom rörliga länkar, dragfjädrar, segmenten om- famnande höljen av ett elastiskt material osv.
Uppfinníngen är icke begränsad till de beskrivna och visade utföríngsexemplen utan ett flertal varianter är tänkbara inom ramen för patentkraven. Således är det tänkbart att anordna flera överföringsanordningar 16 genom en eller flera öppningar i segmentens mitt eller nära dess periferi, för att kunna manövrera arbetsredskapet på lämp- ligtdsatt.
Claims (6)
1. Böjlig arm i synnerhet robotarm för uppbärande och/eller manipulering av arbetsredskap eller liknande, vilken arm innefattar ett antal i serie och till anligg- ning mot varandra anordnade segment, varvid kraftgenererande och/eller kraftöverförande påverkrkningsorgan är anordnade att verka mellan resp. på segmenten eller en grupp av segment, k ä n n e t e c k n a d d ä r a v, att segmenten (11) är utformade med mot varandra vända välvda, företrädesvis delsfäriska kontaktytor, med en radie som är avsevärt större än halva segmentets höjd, varvid segmenten (ll) är anordnade att vid påverkan av sagda kraftgenererande och/eller kraftöverförande organ (lä) utföra en rullande rörelse relativt varandra.
2. Böjlig arm enligt patentkravet 1, k ä n n e t e c k n a d d ä r a v, att vardera segment utanför de välvda flatsidorna är utformat med en periferiell fläns (30) med mindre tjocklek än seg- mentet i övrigt, vilken fläns är anordnad för upptagande av de kraftgenererande och/eller kraftöverförande påverk- ningsorganen (14).
3. Böjlig arm enligt patentkrav 1 eller 2, k ä n n e t e c k n a d d ä r a v, att segmenten (11) med avseende på påverkníngsorganen (lü) är sammanfattade i grupper, vilka är påverkbara oberoende av varandra medelst sagda organ.
4. H. Böjlig arm enligt patentkrav 1,2 eller 3, k ä n n e t e c k n a d d ä r a v, att påverkningsorganen (lü) utgöres av drag- och/eller tryckkrafter överförbara, böjliga don exempelvis wirar, bowdenkablar eller liknande, vilka med sin ena ände år anslutna till var sin servomotor (18) och med sin motsatta ände år fast förbundna med gruppens från servomotorn 790-2366-9 _ 10 räknad sista segment (ll) och att organen (lü) är anordnade att passera genom öppningar (12) i mellanliggande segment.
5. Böjlig arm enligt något eller några av föregående patentkrav, sk ä n n e t e c k n a d d ä r a v, att påverkningsorganen (lä) utgöras av medelst en tryckfluid eller på elektromagnetiskt väg expander~ och kontraherhara anordningar (39,40,42,H6 ) anbragta i mellanrummen mellan närbelägna segment eller vid segmentens-kontaktytor.
6. Böjlig arm enligt något eller några av föregående patentkrav, k ä n n e t etc k n a d d ä r a v, att segmenten är försedda med åtminstone en genomlopps- gkanal (lä ) för minst en böjlig överföringsanordning (16) för drag-, tryck- och/eller rotationskrafter, vilken anord- ning med sin ena ände är anslutbar till arbetsredskapet (25) och med sin andra ände till en servomotor (20).
Priority Applications (8)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
SE7902366A SE419421B (sv) | 1979-03-16 | 1979-03-16 | Bojlig arm i synnerhet robotarm |
DE8080101213T DE3065494D1 (en) | 1979-03-16 | 1980-03-10 | Flexible arm, particularly a robot arm |
EP80101213A EP0017016B1 (en) | 1979-03-16 | 1980-03-10 | Flexible arm, particularly a robot arm |
FI800774A FI75110C (sv) | 1979-03-16 | 1980-03-13 | Böjlig arm, i synnerhet robotarm. |
NO800750A NO148987C (no) | 1979-03-16 | 1980-03-14 | Boeyelig arm, saerlig en robotarm |
JP55032167A JPS5921756B2 (ja) | 1979-03-16 | 1980-03-15 | 可撓腕 |
US06/351,589 US4393728A (en) | 1979-03-16 | 1982-02-23 | Flexible arm, particularly a robot arm |
US06/426,964 US4494417A (en) | 1979-03-16 | 1982-09-29 | Flexible arm, particularly a robot arm |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
SE7902366A SE419421B (sv) | 1979-03-16 | 1979-03-16 | Bojlig arm i synnerhet robotarm |
Publications (2)
Publication Number | Publication Date |
---|---|
SE7902366L SE7902366L (sv) | 1980-09-17 |
SE419421B true SE419421B (sv) | 1981-08-03 |
Family
ID=20337557
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
SE7902366A SE419421B (sv) | 1979-03-16 | 1979-03-16 | Bojlig arm i synnerhet robotarm |
Country Status (7)
Country | Link |
---|---|
US (1) | US4393728A (sv) |
EP (1) | EP0017016B1 (sv) |
JP (1) | JPS5921756B2 (sv) |
DE (1) | DE3065494D1 (sv) |
FI (1) | FI75110C (sv) |
NO (1) | NO148987C (sv) |
SE (1) | SE419421B (sv) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO1984000125A1 (en) * | 1982-07-05 | 1984-01-19 | Robotgruppen Hb | A device for torsion-proof connection of an element in a robot arm or the like |
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JPS57127689A (en) * | 1981-01-28 | 1982-08-07 | Tokico Ltd | Robot arm |
US4489826A (en) * | 1982-02-05 | 1984-12-25 | Philip Dubson | Adjustable apparatus |
US5185932A (en) * | 1982-06-03 | 1993-02-16 | Caines R Scott | Robotic fluid-actuated muscle analogue tree trimmer |
US5021064A (en) * | 1982-06-03 | 1991-06-04 | Dolores R. Rudy | Robotic fluid-actuated muscle analogue |
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JPS59134687A (ja) * | 1983-01-24 | 1984-08-02 | 株式会社高岳製作所 | 多関節機構 |
GB8303694D0 (en) * | 1983-02-10 | 1983-03-16 | Atomic Energy Authority Uk | Manipulators |
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GB2145691B (en) * | 1983-08-29 | 1987-06-03 | Toshiba Kk | Extendible and contractable arms |
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FR2565882B2 (fr) * | 1984-06-13 | 1987-09-18 | Centre Nat Rech Scient | Dispositif de liaison a plusieurs degres de liberte |
JPS6133890A (ja) * | 1984-07-26 | 1986-02-17 | 松下電器産業株式会社 | 工業用ロボツト |
GB8503547D0 (en) * | 1985-02-12 | 1985-03-13 | British Petroleum Co Plc | Nozzle |
US4666362A (en) * | 1985-05-07 | 1987-05-19 | Massachusetts Institute Of Technology | Parallel link manipulators |
FR2587644B1 (fr) * | 1985-09-24 | 1987-12-24 | Lorin De La Grandmaison Didier | Dispositif pour relier deux objets et faire varier leur position et leur orientation relatives applicable notamment aux bras de manipulateurs |
JPS6283641A (ja) * | 1985-10-08 | 1987-04-17 | Sharp Corp | 電界効果型半導体センサ |
US4685893A (en) * | 1986-05-27 | 1987-08-11 | Those Characters From Cleveland, Inc. | Toy doll or article with manipulative appendage |
US4765795A (en) * | 1986-06-10 | 1988-08-23 | Lord Corporation | Object manipulator |
JPS6390755A (ja) * | 1986-10-03 | 1988-04-21 | Omron Tateisi Electronics Co | 酵素電極 |
GB8625144D0 (en) * | 1986-10-21 | 1986-11-26 | Hennequin J R | Pneumatic/hydraulic artificial muscle |
NL8700307A (nl) * | 1987-02-10 | 1988-09-01 | Berend Jan Bloemendal | Door een stroombaar medium te bedienen duwbalk alsmede een als hulpmiddel bij het laden en lossen te gebruiken inrichting, voorzien van een of meer van dergelijke duwbalken. |
US5286154A (en) * | 1987-03-18 | 1994-02-15 | Electric Power Research Institute, Inc. | In bundle foreign object search and retrieval apparatus |
JPS63237892A (ja) * | 1987-03-23 | 1988-10-04 | 株式会社小松製作所 | 可撓腕 |
US4979093A (en) * | 1987-07-16 | 1990-12-18 | Cavro Scientific Instruments | XYZ positioner |
JPS6471686A (en) * | 1987-09-09 | 1989-03-16 | Komatsu Mfg Co Ltd | Flexible arm robot |
US4848179A (en) * | 1988-02-16 | 1989-07-18 | Trw Inc. | Flexidigit robotic manipulator |
US4964062A (en) * | 1988-02-16 | 1990-10-16 | Ubhayakar Shivadev K | Robotic arm systems |
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-
1979
- 1979-03-16 SE SE7902366A patent/SE419421B/sv not_active IP Right Cessation
-
1980
- 1980-03-10 DE DE8080101213T patent/DE3065494D1/de not_active Expired
- 1980-03-10 EP EP80101213A patent/EP0017016B1/en not_active Expired
- 1980-03-13 FI FI800774A patent/FI75110C/sv not_active IP Right Cessation
- 1980-03-14 NO NO800750A patent/NO148987C/no unknown
- 1980-03-15 JP JP55032167A patent/JPS5921756B2/ja not_active Expired
-
1982
- 1982-02-23 US US06/351,589 patent/US4393728A/en not_active Expired - Fee Related
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WO1984000125A1 (en) * | 1982-07-05 | 1984-01-19 | Robotgruppen Hb | A device for torsion-proof connection of an element in a robot arm or the like |
Also Published As
Publication number | Publication date |
---|---|
FI800774A (fi) | 1980-09-17 |
EP0017016B1 (en) | 1983-11-09 |
DE3065494D1 (en) | 1983-12-15 |
NO148987B (no) | 1983-10-17 |
US4393728A (en) | 1983-07-19 |
FI75110B (fi) | 1988-01-29 |
FI75110C (sv) | 1988-05-09 |
SE7902366L (sv) | 1980-09-17 |
NO800750L (no) | 1980-09-17 |
JPS5921756B2 (ja) | 1984-05-22 |
NO148987C (no) | 1984-01-25 |
JPS563193A (en) | 1981-01-13 |
EP0017016A1 (en) | 1980-10-15 |
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